本文關(guān)鍵詞：探測履帶車控制系統(tǒng)設(shè)計與實現(xiàn)　出處：《南京理工大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： Linux平臺 探測履帶車 控制系統(tǒng) 路徑規(guī)劃

【摘要】：探測履帶車由于可以適應(yīng)較為復(fù)雜的地表環(huán)境,因此在社會服務(wù)、工業(yè)生產(chǎn)、軍事等領(lǐng)域得到了廣泛應(yīng)用。本文研究了一種探測履帶車控制系統(tǒng)的設(shè)計方法,基于ARM控制器和Linux操作系統(tǒng)搭建了其探測模塊,以PIC單片機為CPU構(gòu)建了其移動控制模塊,并利用設(shè)計的PC監(jiān)控終端對整個系統(tǒng)進行了調(diào)試驗證。本文所完成的主要工作如下:(1)根據(jù)系統(tǒng)的具體應(yīng)用需求,給出了探測履帶車控制系統(tǒng)的總體設(shè)計方案,分析了其中的探測模塊、移動控制模塊、PC監(jiān)控終端的功能需求和基本設(shè)計方法。(2)在特定的ARM嵌入式開發(fā)板上移植了 Linux操作系統(tǒng),完成了基于Linux操作系統(tǒng)的視頻采集和傳輸功能的軟件設(shè)計,實現(xiàn)了探測模塊與PC監(jiān)控終端之間的視頻傳輸功能,并給出了相應(yīng)的PC監(jiān)控終端的界面設(shè)計方法。(3)給出了移動控制模塊的軟硬件設(shè)計方案,分析了電機驅(qū)動/控制的硬件電路設(shè)計方法,以及基于C語言的移動控制模塊軟件開發(fā)流程,重點介紹了通信接口模塊、運動控制策略、雙閉環(huán)控制的程序設(shè)計方法。(4)設(shè)計了利用多探測履帶車進行目標(biāo)定位時的路徑規(guī)劃算法,以定位精度為目標(biāo)函數(shù),控制多個探測履帶車進行協(xié)同探測,保證任意時刻得到的定位數(shù)據(jù)均為最優(yōu)值。(5)介紹了探測履帶車控制系統(tǒng)的調(diào)試情況,并針對調(diào)試過程中出現(xiàn)的一些問題,給出了相應(yīng)的改進方法。最后,對本文進行了總結(jié),并提出了一些后期的改進意見。
[Abstract]:Detection of tracked vehicle because it can adapt to complex surface environment, so in the social services, industrial production, military and other fields has been widely used. This paper studies a tracked vehicle detection control system design method, ARM controller and Linux operating system to build the detection module based on PIC microcontroller as the construction of the mobile CPU the control module, and debugging the system verification using PC monitoring terminal design. The main work of this paper are as follows: (1) according to the application requirements of the system, gives the overall design scheme of tracked vehicle detection control system, analyzed the detection module, motion control module, function requirements of PC monitoring the terminal and the basic design methods. (2) transplanted Linux operating system on the ARM embedded development board, completed the video acquisition and transmission function based on Linux operating system software The design and implementation of video transmission function between the detection module and the PC terminal, and gives the design method of PC interface monitoring terminal (3). The corresponding hardware and software design of mobile control module is given, analyzed the design method of hardware circuit of the motor control and drive / control module based on mobile software development process C language, introduced the communication interface module, motion control strategy, the program design method of double closed-loop control. (4) designed a path planning algorithm for target detection tracked vehicle positioning, the positioning accuracy as objective function, control of the collaborative detection of multiple tracked vehicle detection, the positioning data of any time to get all the optimal value. (5) the detection track vehicle control system debugging, and for some of the problems in the debugging process, gives the corresponding improvement methods. Finally, the A summary of the article is made and some later suggestions for improvement are put forward.

【學(xué)位授予單位】：南京理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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本文編號：1372435